00001 /* 00002 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees 00003 * http://octomap.github.com/ 00004 * 00005 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg 00006 * All rights reserved. 00007 * License: New BSD 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above copyright 00015 * notice, this list of conditions and the following disclaimer in the 00016 * documentation and/or other materials provided with the distribution. 00017 * * Neither the name of the University of Freiburg nor the names of its 00018 * contributors may be used to endorse or promote products derived from 00019 * this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00023 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00024 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00025 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00026 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00027 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00028 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00029 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00030 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 */ 00033 00034 #include <vector> 00035 #include <string> 00036 00037 #include <octomap/octomap.h> 00038 #include <octomap/OcTree.h> 00039 00040 using namespace std; 00041 using namespace octomap; 00042 00043 int main(int argc, char** argv) { 00044 00045 cout << "generating example map" << endl; 00046 00047 OcTree tree (0.1); // create empty tree with resolution 0.1 00048 00049 // insert some measurements of free cells 00050 00051 for (float x = -2; x <= 0; x += 0.02) { 00052 for (float y = -2; y <= 0; y += 0.02) { 00053 for (float z = -2; z <= 0; z += 0.02) { 00054 point3d endpoint(x, y, z); 00055 tree.updateNode(endpoint, false); // integrate 'free' measurement 00056 } 00057 } 00058 } 00059 00060 // insert some measurements of occupied cells (twice as much) 00061 for (float x = -1; x <= 0; x += 0.01) { 00062 for (float y = -1; y <= 0; y += 0.01) { 00063 for (float z = -1; z <= 0; z += 0.01) { 00064 point3d endpoint(x, y, z); 00065 tree.updateNode(endpoint, true); // integrate 'occupied' measurement 00066 } 00067 } 00068 } 00069 00070 point3d origin(-1.5, -1.5, -0.5); 00071 point3d direction; 00072 point3d ray_end; 00073 00074 00075 for(float z = 0; z <= 0.25; z += 0.125){ 00076 direction = point3d(1, 1, z); 00077 cout << endl; 00078 cout << "casting ray from " << origin << " in the " << direction << " direction"<< endl; 00079 bool success = tree.castRay(origin, direction, ray_end); 00080 00081 if(success){ 00082 cout << "ray hit cell with center " << ray_end << endl; 00083 00084 point3d intersection; 00085 success = tree.getRayIntersection(origin, direction, ray_end, intersection); 00086 if(success) 00087 cout << "entrance point is " << intersection << endl; 00088 } 00089 } 00090 00091 return 0; 00092 }